You can not change the flange orientation in pal_mode. This has been discussed in the past. Just use foroum search with keyword pal_mode.
Pal_mode mode on a 5 axis palletizer is the same as on a 4 axis palletizing robot where the mechanical construction with a parallelogram enforces flange to be parallel to the robots base. This enforced condition is on axis level and not in Cartesian space. A5 is calculted from a2 and a3 to achieve the parrallelity. If you need a different oriention mount the tool with the required angle.
Fubini
with 5-axis robot is really a 4-axis robot since A3 and A5 are internally coupled and working as one axis. this has advantages for maintenance, used space etc. if the flange is not parallel with the floor, check mastering. beyond that, there is nothing you can do - if you need to change flange orientation, you need a 6-axis robot. that is if you want setting to stick (stay fixed).
the only other option is to programmatically enable/disable pal mode at certain stages of the program. for example this could allow you to pick something that is not level (pal mode off) and place it when it is level (pal mode on) but the system is not meant for this and the computational support necessary for this is not there. for example this means that related positions would need to be axis type (AXIS or E6AXIS) and not Cartesian (POS or E6POS). same goes for jogging in case of touching up points or recovery. in fact using Cartesian mode to jog will likely lead to collisions as robot may move unpredictably. trust me, this is not a can of worms you want to open.
